/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include <string.h>
#include "servo_mode.h"
#define Stack_Enable 0
#if Stack_Enable
#include "action_stack.h"
#endif
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define Test_Mode 0
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
#define RXBUFFERSIZE  256     //�?????????大接收字节数
char RxBuffer[RXBUFFERSIZE];   //接收数据
uint8_t aRxBuffer;			//接收中断缓冲
uint8_t Uart1_Rx_Cnt = 0;		//接收缓冲计数
/*
    Global Variable
    action_lsit stored action_mode
    max_index limits the action number
    through index to accomplish loop list
 */
uint8_t action_list[10]={0};
uint8_t max_index = 10;
uint8_t push_index=0;
uint8_t pop_index=0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int fputc(int ch, FILE *f){
 HAL_UART_Transmit(&huart6, (uint8_t *)&ch, 1, 0xffff);
return ch;
}

int fgetc(FILE * f)
{
  uint8_t ch = 0;
  HAL_UART_Receive(&huart6,&ch, 1, 0xffff);
  return ch;
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART6_UART_Init();
  MX_TIM5_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);

  HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_4);
  HAL_UART_Receive_IT(&huart6, (uint8_t *)&aRxBuffer, 1);
  
  // task stack init
  #if Stack_Enable
  stack_init(st_head,st_tail);
  #endif
	// Servo Control Init
  Servo_Control *my_servo = (Servo_Control*)malloc(sizeof(Servo_Control));
  Register_Init(my_servo);
  uint32_t channel_group[3]={TIM_CHANNEL_1,TIM_CHANNEL_2,TIM_CHANNEL_3};
  /* 
  *  angle is set to my_servo's {_target_angle},{_current_angle}
  *  !! [angle] connected {_target_angle} and {_current_angle}
  */
  uint8_t angle[3]={0,0,0};
	my_servo->_servo_init(my_servo,&htim5,channel_group,angle,3);
  // First Homing
  select_mode(my_servo,HOMING);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    #if !Test_Mode 
    if(pop_index != push_index)
    {
      if(pop_index >= max_index)
        pop_index = 0;
      int32_t mode = action_list[pop_index++];
      select_mode(my_servo,mode);
    }
    #endif
    // Through test_mode to adjust servo inital angle
    #if Test_Mode
    force_move_angle(my_servo,0);
    #endif
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 12;
  RCC_OscInitStruct.PLL.PLLN = 360;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Activate the Over-Drive mode
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  /* Prevent unused argument(s) compilation warning */
  //UNUSED(huart);
  /* NOTE: This function Should not be modified, when the callback is needed,
           the HAL_UART_TxCpltCallback could be implemented in the user file
   */
 
	if(Uart1_Rx_Cnt >= 255)  //溢出判断
	{
		Uart1_Rx_Cnt = 0;
		memset(RxBuffer,0x00,sizeof(RxBuffer));
		HAL_UART_Transmit(&huart6, (uint8_t *)"数据溢出", 10,0xFFFF); 	
        
	}
	else
	{
		RxBuffer[Uart1_Rx_Cnt++] = aRxBuffer;   //接收数据转存

    if(push_index >= max_index)
      push_index = 0;
    switch(aRxBuffer)
    {
      case 'G':
        {
          action_list[push_index ++] = GRAB;
          break;
        }
      case 'H':
        action_list[push_index ++] = HOMING;      
        break;
      case 'S':
        action_list[push_index ++] = SWING;
        break;
      case 'D':
      
        break;
      default:
        break;
    }
		if((RxBuffer[Uart1_Rx_Cnt-1] == 0x0A)&&(RxBuffer[Uart1_Rx_Cnt-2] == 0x0D)) //判断结束�?????????
		{
			HAL_UART_Transmit(&huart6, (uint8_t *)&RxBuffer, Uart1_Rx_Cnt,0xFFFF); //将收到的信息发�?�出�?????????
            while(HAL_UART_GetState(&huart6) == HAL_UART_STATE_BUSY_TX);//�?????????测UART发�?�结�?????????
			Uart1_Rx_Cnt = 0;
			memset(RxBuffer,0x00,sizeof(RxBuffer)); //清空数组
		}
	}
	
	HAL_UART_Receive_IT(&huart6, (uint8_t *)&aRxBuffer, 1);   //再开启接收中�?????????
}


/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
